CoRiBoDynamics::CollisionManager::MaterialCharacteristic Struct Reference

enum of different shape types

#include <CollisionManager.h>

Public Member Functions
	MaterialCharacteristic (double K, double D, double F)
	contact friction coefficient

Public Attributes
double	contactDamping
double	contactStiffness
	relative damping coefficient of contact forces. relates to alpha as: alpha = beta*contactDamping
double	frictionCoefficient
	determines contact force stiffness together with the timeConstant.

---

The documentation for this struct was generated from the following file:

• reloadrepos/fhsim_coribo/src/ConstraintSet/CollisionManager.h